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WO2015121935A1 - Système de commande de raccordement de véhicules - Google Patents

Système de commande de raccordement de véhicules Download PDF

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Publication number
WO2015121935A1
WO2015121935A1 PCT/JP2014/053270 JP2014053270W WO2015121935A1 WO 2015121935 A1 WO2015121935 A1 WO 2015121935A1 JP 2014053270 W JP2014053270 W JP 2014053270W WO 2015121935 A1 WO2015121935 A1 WO 2015121935A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
position information
coupler
connection
feature point
Prior art date
Application number
PCT/JP2014/053270
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English (en)
Japanese (ja)
Inventor
健二 今本
小熊　賢司
勝田　敬一
俊晴 菅原
尊喜 西野
Original Assignee
株式会社日立製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2014/053270 priority Critical patent/WO2015121935A1/fr
Publication of WO2015121935A1 publication Critical patent/WO2015121935A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

Definitions

  • the present invention relates to a vehicle connection control system for performing vehicle connection control.
  • Patent Document 1 As background art in this technical field, there is JP 2011-254666 A (Patent Document 1).
  • Patent Document 1 when a succeeding vehicle performs connection control to a preceding vehicle that is stopped, there is a method for performing a connection by calculating a speed pattern based on the remaining distance calculated by the millimeter wave wireless transmission device and the connection support device.
  • the connection support device determines the travel pattern based on the remaining distance obtained from the millimeter-wave wireless transmission device, and the train A technique for controlling the running speed is shown.
  • Patent Document 2 Japanese Patent Application Laid-Open No. 10-162282
  • Patent Document 2 a vehicle equipped with a magnetic sensor on a vehicle detects a magnetic information source on an automatic road on which a magnetic nail as a route marker is embedded at regular intervals.
  • Patent Document 2 Japanese Patent Application Laid-Open No. 10-162282
  • a technique related to automatic traveling that performs speed control and steering control.
  • the present invention employs, for example, the configurations described in the claims.
  • the present application includes a plurality of means for solving the above-described problems.
  • the vehicle connection control system of the present invention includes a first vehicle including a first coupler, and the first vehicle. And a second vehicle provided with a position information measuring device, wherein the second vehicle is preliminarily provided with at least two on the connection surface of the first vehicle.
  • the position information of the feature point of the point and the arrangement information of the first coupler with respect to the feature point are recorded, the position information measuring device identifies each of the feature points and measures the position information, Based on the position information of the feature point measured by the position information measuring device and the arrangement information of the first coupler with respect to the feature point, the position of the first coupler with respect to the second coupler is determined.
  • said first In at least one of the two vehicles and the second vehicle, a travel route and speed until the two couplers are connected are derived, and based on the derived travel route and speed, steering, vehicle speed, and braking of the vehicle are derived. Both couplers were connected by controlling the apparatus.
  • the present invention is configured as described above, in an environment where there is no physical guideway, the traveling route and speed until the two couplers are connected are derived on the vehicle side, and the vehicle connection is performed safely and smoothly. be able to. Moreover, it is possible to construct a low-cost vehicle connection control system without requiring road surface equipment such as an on-vehicle magnetic sensor. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.
  • FIG. 1 is a diagram illustrating an apparatus configuration according to the first embodiment.
  • FIG. 2 is an example of a flowchart illustrating the vehicle connection process in the first embodiment.
  • FIG. 3 is a diagram illustrating a specific example of a device configuration related to the measurement of positional information of feature points in the first embodiment.
  • FIG. 4 is an example of data recorded in the feature point information recording apparatus according to the first embodiment.
  • FIG. 5 is a diagram illustrating a specific example of a device configuration related to distance measurement of feature points in the second embodiment.
  • FIG. 6 is a diagram illustrating a device configuration according to the third embodiment.
  • FIG. 7 is an example of a flowchart illustrating the vehicle connection process in the third embodiment.
  • Example 1 In the present embodiment, a description will be given of a vehicle system in which knitted vehicles traveling as separate formations are connected by a coupler and perform connection control for traveling as a single formation.
  • a configuration diagram of the vehicle system of the present embodiment is shown in FIG.
  • the subsequent vehicle 102 approaching the stopped preceding vehicle 101 performs connection control for connecting to the preceding vehicle 101.
  • a two-car train consisting of a preceding vehicle 101 and a succeeding vehicle 102 will be described as an example of a train set, but the present invention is not limited to a two-car train, and three or more vehicles are used.
  • the present invention is also applicable to a knitted vehicle composed of The same applies to the other embodiments.
  • the preceding vehicle 101 has a coupler 111 (first coupler) on the back.
  • the succeeding vehicle 102 includes a connector 121 (second connector) and a position information measuring device 122 on the front surface, a speed control device 123 and a steering control device 124 for performing the connection, a vehicle speed sensor 125, and an abnormality detection.
  • a device 126, a connector recognition device 127, a feature point information recording device 128, and a security device 129 that controls them are included.
  • connection control The processing flow related to the connection control of this embodiment is shown in FIG.
  • connection control an example in which the subsequent vehicle 102 performs the entire processing flow of FIG. 2 will be described.
  • the present invention is not limited to the processing performed by the subsequent vehicle 102.
  • the processing flow shown in FIG. 2 can also be applied to the case where the preceding vehicle is provided with each device included in one succeeding vehicle 102 and the succeeding vehicle 102 is connected by the preceding vehicle 101 moving backward. The same applies to the other embodiments.
  • the security device 129 of the following vehicle 102 starts connection control with the preceding vehicle 101.
  • connection control for example, a transmission device that transmits arbitrary information to the following vehicle 102 that has passed through a specific position is installed on the traveling road, and information indicating the start of connection control is transmitted from the transmission device to the subsequent vehicle 102.
  • the security device 129 of the vehicle 102 By receiving the security device 129 of the vehicle 102, it can be used as a trigger for starting the connection control.
  • a means for communicating between the preceding vehicle 101 and the following vehicle 102 is provided, and the safety device 129 receives information that instructs the following vehicle 102 to start the connection control from the preceding vehicle 101 as a trigger for starting the connection control. Also good.
  • the following vehicle 102 holds the connection plan information including the connection point with the preceding vehicle 101 and the connection scheduled time, detects that the current point of the host vehicle is approaching the connection point, and controls this.
  • the position information measuring device 122 of the following vehicle 102 measures the distance to the preceding vehicle 101 existing in front of the traveling direction, a specific sign, etc., and detects that the distance is below a certain value.
  • Various means are included such that this is used as a trigger for starting connection control.
  • the subsequent vehicle 102 uses the position information measuring device 122 in step 1020 and uses the position information measuring device 122 as a base point and at least two or more feature points on the connection surface of the preceding vehicle 101. Measure position information consisting of distance and angle. In the coordinate system with the position information measuring device 122 as the origin, a vector determined by the distance and angle to the feature point is defined as the feature point position information.
  • the range that can be measured by the position information measuring device 122 is not limited to one point in front, but preferably has a function capable of measuring the distance and angle of a plurality of locations in the wide angle range. For example, scanning within a predetermined angle range called scanning It is desirable to use a laser radar having a function and to obtain both distance information and angle information separately.
  • a laser radar having a scanning function is used as the position information measuring device 122.
  • the present invention is not limited to the use of a laser radar.
  • a sensor, a stereo camera, an infrared distance sensor, or a device that measures a distance based on a communication delay time between vehicles is also applicable.
  • the connecting surface means an end surface in the vehicle front-rear direction in which the coupler is provided.
  • the front surface of the vehicle is the connecting surface in the case of the preceding vehicle 101
  • the front surface of the vehicle is the connecting surface in the case of the following vehicle 102.
  • the feature points on the connecting surface of the preceding vehicle 101 are locations where the laser radar and other position information measuring devices mounted on the following vehicle 102 can be specified within the connecting surface.
  • the end of the connecting surface, a portion with a characteristic unevenness, an installation location of a special reflective material such as a reflector that performs characteristic reflection, and the like is recorded in the feature point information recording device 128. .
  • a plurality of reflective materials having different reflectivities may be installed on the connection surface so that the position information measuring device can identify the feature points, or a plurality of reflective materials such as barcodes may have a specific pattern. May be installed side by side.
  • the position information measuring device can extract feature points by recording the reflectivity information together with the arrangement information.
  • a stereo camera is used as the position information measuring device 122, a characteristic shape or color on the connecting surface of the preceding vehicle 101 is determined in advance as a feature point, and this feature point is extracted by image processing. The position information may be measured.
  • the vehicle shape information includes, in the case of the preceding vehicle 101, at least the arrangement information of the coupler 111 with respect to the feature points on the connection surface, and in the case of the subsequent vehicle 102, the arrangement information of the connector 121 on the connection surface. Including the total width and height of the connection surface, the installation direction of the couplers 111 and 121, and the like, it becomes possible to measure position information more accurately.
  • An example of data recorded in the feature point information recording device 128 is shown in FIG. It is desirable to record the vehicle shape data (full height, full width, minimum ground height) of the preceding vehicle 101 and the feature point information regarding the arrangement of the feature points in the feature point information recording device 128 in the format of FIG.
  • These vehicle shape and feature point information may be recorded in advance in the feature point information recording device 128 included in the succeeding vehicle 102, or when the preceding vehicle 101 starts to connect to the succeeding vehicle 102 when starting the connection control. Vehicle feature point information may be sent.
  • step 1020 after the position information measuring device 122 performs measurement of the position information of the feature point in step 1020, in step 1030, the abnormality detection device 126 receives the measurement result and inputs the position information. Check for abnormalities in the measurement.
  • the traveling speed is calculated by differentiating the distance calculated from the difference of the distance information included in the position information measurement result, and the value and the traveling speed output from the vehicle speed sensor are output. The difference from the speed may be a certain value or more.
  • the corresponding vehicle cannot be captured by the position information measuring device 122 (for example, although the preceding vehicle has been captured by the radar until immediately before). Suddenly becomes impossible to capture, or the preceding vehicle cannot be captured even when approaching the connection scheduled time and connection point included in the connection plan information), or the feature point of the vehicle whose detected feature point is planning to connect The case where it does not coincide with the information is cited as an abnormal state.
  • the position information measuring device 122 such as a laser radar can obtain high accuracy in a normal state, but there are cases in which capture is lost or an abnormal value is output due to obstacles such as rain, fog, snow, etc., or failure. Anomaly detection is effective.
  • the abnormality detection device 126 When an abnormality is detected in the measurement of position information in step 1030, the abnormality detection device 126 notifies the safety device 129 that an abnormality has occurred, and in response to this, the safety device 129 performs an abnormality process. To do. Examples of the contents of the abnormality processing include deceleration of the following vehicle 102, stopping, or measuring the position information again by the position information measuring device 122. The content of the abnormality process may be changed depending on the cause of the abnormality and the return status from the abnormality. For example, when the abnormal state of the measured position information is not detected in a short time, the connection control is resumed as a temporary abnormality, and the procedure after step 1020 is performed to measure the position information again. Also good. If it is not a temporary abnormality, such as when the abnormality determination is repeated frequently, it is desirable to decelerate or stop the subsequent vehicle 102 to ensure safety.
  • step 1040 the coupler recognition device 127 detects the position information (distances) of the plurality of feature points on the connection surface of the preceding vehicle 101 extracted in step 1020. Information and angle information) are input, and feature points that match the feature point information recorded in the feature point information recording device 128 are extracted. By geometrically calculating the extracted feature points, the position and inclination of the coupler 111 of the preceding vehicle 101 are specified two-dimensionally or three-dimensionally.
  • the coupler recognition device 127 specifies the position information of the coupler 111 of the preceding vehicle 101 in two dimensions.
  • the following vehicle 102 includes a laser radar (hereinafter referred to as a radar) as the position information measuring device 122, and the reflector 1 is provided at two places on the rear surface of the vehicle, which is the connecting surface. 2 is provided.
  • a radar laser radar
  • the position information measuring device 122 of the following vehicle 102, the connector 111, and the installation positions of the reflectors 1 and 2 and the connectors 111 and 121 of the preceding vehicle 101 are recorded in advance in the feature point information recording device 128.
  • the coupler 111 is arranged at the midpoint of the line segment connecting the two reflectors 1 and 2 arranged horizontally.
  • the connector 111 of the preceding vehicle 101 and the connector 121 of the following vehicle 102 protrude in a direction perpendicular to the connection surface of each vehicle, and the connection points of the connectors 111 and 121 are x, y in the xy coordinates. It is assumed that both can be connected when they are within a certain allowable error range.
  • the radar measurement point is the center point (0, 0) on the xy coordinates
  • a straight line parallel to the connecting surface of the following vehicle 102 is set as the x axis
  • a vertical straight line is set as the y axis.
  • the angle when the reflector 1 of the preceding vehicle 101 is measured by the radar is ⁇ 1
  • the distance is L 1
  • the angle when the reflector 2 is measured is ⁇ 2
  • the distance is L 2 .
  • the xy coordinates of the reflectors 1 and 2 are calculated as follows. Reflector 1: (L 1 cos ⁇ 1 , L 1 sin ⁇ 1 )
  • Reflector 2 (L 2 cos ⁇ 2 , L 2 sin ⁇ 2 )
  • the xy coordinates of the coupler 111 of the preceding vehicle 101 and the inclinations on the xy coordinates of the connecting surfaces of both of the preceding vehicles 101 are calculated by the following equations, respectively.
  • Xy coordinates of the coupling of the preceding vehicle ((L 1 cos ⁇ 1 + L 2 cos ⁇ 2 ) / 2, (L 1 sin ⁇ 1 + L 2 sin ⁇ 2 ) / 2) ...
  • Tilt of connecting surface of preceding vehicle L 1 sin ⁇ 1 -L 2 sin ⁇ 2 / L 1 cos ⁇ 1 -L 2 cos ⁇ 2
  • Tilt of the coupling of the preceding vehicle L 2 cos ⁇ 2 -L 1 cos ⁇ 1 / L 1 sin ⁇ 1 -L 2 sin ⁇ 2
  • the coupler recognition device 127 in FIG. 1 identifies the position of the coupler, the coupling surface, and the inclination of the coupler by measuring the distance to the feature point of the preceding vehicle 102.
  • the calculation in three dimensions is also possible by measuring the distance with respect to at least three feature points.
  • the third feature point does not exist on the straight line connecting the other two points, and is separated as much as possible in the direction perpendicular to the straight line connecting the two points.
  • this point is the third feature point, highly accurate calculation is possible.
  • the position of the coupler 111 is the midpoint between the two reflectors 1 and 2, but if the positional relationship with the feature point is clear, the position of the coupler is determined from the position of the feature point. It is possible to derive.
  • the inclination of the coupler 111 is perpendicular to the inclination of the connection surface, if the relationship with the inclination of the connection surface of each vehicle is clear, the inclination of the connector can be derived from the inclination of the connection surface. There is also a possibility.
  • the security device 129 of the succeeding vehicle 102 starts from the coupling position of the coupler 121 according to the value in step 1050.
  • a travel route for the subsequent vehicle 102 to connect to the preceding vehicle 101 is calculated, and a steering angle and a travel speed for traveling on the travel route are calculated.
  • the starting point is the current location of the following vehicle 102
  • the vector at this starting point is the connector angle of the following vehicle 102
  • the end point (connecting position) is the connector position of the preceding vehicle 101
  • the vector at this end point is the following vehicle.
  • a smooth travel route can be calculated by applying an operation for obtaining a Hermite curve as the connector angle 102.
  • the travel route may be calculated by applying a method such as a Bezier curve or a B-spline curve.
  • the security device 129 calculates the steering angle so as to trace the travel route thus calculated.
  • an optimum speed is set according to the position of the coupler of the preceding vehicle 101, and for example, the speed is The traveling speed pattern of the following vehicle 102 is calculated so as to decelerate to 3 km or less.
  • the travel route obtained in step 1050 is an entry prohibition area where the following vehicle 102 should not enter (for example, an area where both connection surfaces interfere with each other before the completion of connection, and there is another vehicle. Or the range where obstacles such as walls exist).
  • the entry prohibition area may be recorded in advance as information related to the travel route, or may be specified in real time when the vehicle 102 is provided with a sensor that detects a nearby obstacle in the subsequent vehicle 102. Also, based on the operation plan information of other vehicles at the yard, etc., when the following vehicle 102 travels, it is checked whether there are other vehicles in the vicinity, and if there are, the periphery is recognized as the range of the entry prohibition area. Also good. Furthermore, a position that avoids the entry prohibition range may be set as a waypoint until reaching the connection position, and a travel route that travels through this waypoint may be calculated.
  • the security device 129 determines in Step 1061 that the connection with the preceding vehicle 101 is impossible and ends the connection control. As a process after determining that the connection is not possible, for example, the following vehicle 102 is decelerated, stopped, a travel route is changed, a connection plan is changed, or a notification that the driver of the subsequent vehicle 102 or a preceding vehicle cannot be connected is performed.
  • the security device 129 determines whether the steering angle and travel speed pattern calculated in step 1050 are speed controlled in step 1070. Output to the device 124 and the steering control device 124, respectively, to control the traveling of the following vehicle 102. It should be noted that when controlling the steering angle and the traveling speed, it may be a control for automatically driving the subsequent vehicle 102 or a control for assisting the driver of the subsequent vehicle 102.
  • Step 1070 When the control of the steering angle and the traveling speed of the following vehicle 102 is executed in Step 1070, the security device 129 of the following vehicle 102 confirms whether or not the connection with the preceding vehicle 101 is completed at regular time intervals in Step 1090. If the connection has not been completed after a certain period of time, the process returns to step order 1020 and the processes up to step 1070 are repeated until the connection is completed or an abnormality is detected in step 1030 or connection is determined to be impossible in step 1061. repeat.
  • step 1080 When the connection between the preceding vehicle 101 and the succeeding vehicle 102 is completed in step 1080, the connection control is terminated in step 1090, and the two-car train operation of the preceding vehicle 101 and the succeeding vehicle 102 is started.
  • the following vehicle 102 can perform traveling control for connection with the preceding vehicle 101, and has a function of detecting abnormality during measurement and determining the appropriateness of the traveling route.
  • the position information of the coupler 111 of the preceding vehicle 101 using the position information measuring device 122 and controlling the speed according to the inter-vehicle distance, it becomes possible to connect the vehicles safely and in a short time.
  • the position information of the feature point is measured based on the distance and the angle with the feature point obtained by using one position information measuring device.
  • the position information measuring device 122 used in the first embodiment measures an incorrect angle
  • the first embodiment may not be able to detect an abnormality. Therefore, in the second embodiment, as shown in FIG. 5, by using at least two radars 1 and 2 as the position information measuring device, the measurement information of the angle of the feature point is unnecessary.
  • the second embodiment parts different from the first embodiment will be described, and the other parts are assumed to have the same configuration as the first embodiment.
  • an example in which two laser radars having a scanning function are used as an example of the radar 1 and the radar 2 as the position information measuring device is not limited to the use of the laser radar.
  • any device capable of accurately measuring the distance to the feature point may be used.
  • an ultrasonic distance sensor, a camera, an infrared distance sensor, a device that measures a distance based on a communication delay time between vehicles, or a combination thereof can be applied.
  • a position information measurement procedure (procedure 1020 in the first embodiment) by the position information measuring apparatus in the second embodiment will be described.
  • the succeeding vehicle 101 includes two radars (radar 1 and radar 2) as position information measuring devices
  • the preceding vehicle 102 includes reflectors 1 and 2 at two locations on the rear surface of the vehicle, which is a connecting surface.
  • This configuration is shown in FIG. It is assumed that the installation positions of the radars 1 and 2 of the following vehicle 102 and the reflectors 1 and 2 and the coupler 111 of the preceding vehicle 102 are recorded in advance in the feature point information recording device 128.
  • the measurement point of the radar 1 installed on the left side of the succeeding vehicle shown in FIG. 5 is the center point (0, 0) on the xy coordinates, and the direction parallel to the connecting surface of the succeeding vehicle 102 is the y axis, The direction perpendicular to the connecting surface of the following vehicle 102 is taken as the x-axis.
  • the distance when the radar 1 measures the reflector 1 of the preceding vehicle 101 is L 11
  • the distance when the reflector 2 is measured is L 12
  • the distance when the reflector 2 of the preceding vehicle 101 is measured by the radar 2 of FIG. 5 is set as L 21
  • the distance when the reflector 2 is measured is set as L 22 .
  • the coordinates of the radar 1 are (0, 0) and the coordinates of the radar 2 are (r, 0).
  • the distance from the reflector 1 measured by the radar 1 is L 11
  • the distance from the reflector 2 is L 12
  • the distance from the reflector 1 measured by the radar 2 is L 21
  • the distance from the reflector 2 is L 22. far.
  • the installation interval between the two radars is set to r.
  • Yen 12: x 2 + y 2 L 12 2 (Equation 5)
  • Circle 22: (xr) 2 + y 2 L 22 2 (7)
  • each reflector is the intersection of circle 11 and circle 21, and reflector 2 is the intersection of circle 12 and circle 22, the xy coordinates of each reflector are derived from equations 4 to 7 with radar 1 as the origin as follows.
  • Reflector 2 ((L 12 2 -L 22 2 + r 2 ) / 2r, ⁇ (L 12 2- (L 12 2 -L 22 2 + r 2 ) 2 / 4r 2 ))
  • r is information relating to the radar installation position recorded in the feature point information recording device 128, and L 11 , L 12 , L 21 , and L 22 are distance measurement information by the radar. Therefore, as described in the above equations, by using two radars, each reflector 1 can be obtained by using only distance information without using angle information measured by each radar 1 and 2. 2 position information can be calculated and measured. Since the installation positions of the reflectors 1 and 2 and the coupler 111 of the preceding vehicle 101 are recorded in advance in the feature point information recording device 128, as in the first embodiment, the installation positions of the reflectors 1 and 2 are preceded. Position information of the coupler 111 of the vehicle 101 is derived.
  • the distance of the feature point of the preceding vehicle is measured using the two position information measuring devices, so that the position of the coupler of the preceding vehicle can be obtained even if the angle information where the feature point exists is not measured.
  • the inclination of the connecting surface and the coupler is specified. Since the measurement of the angle information becomes unnecessary, it is possible to apply a measuring device such as an ultrasonic sensor that is difficult to measure the angle in nature. In addition, even when the measurement direction of the measurement device installed in the vehicle is shifted due to vibration or the like, it is possible to calculate the coordinates of the feature points without error.
  • the angle is also measured, and the feature point coordinate information calculated using the distance and the angle is calculated using only the distance information.
  • An abnormality of the radars 1 and 2 may be detected by comparing the coordinate information.
  • a three-dimensional calculation can be performed by measuring distances to at least three feature points.
  • Example 3 In the first and second embodiments, it is assumed that the preceding vehicle 101 is stopped and the subsequent vehicle 102 travels and connects while being steered. However, in the third embodiment, only the subsequent vehicle 102 travels. Instead, it shows connection control when the preceding vehicle 102 also travels, or when the couplers 111 and 121 of the preceding vehicle 101 and the following vehicle 102 adjust the connection position. In the third embodiment, parts different from the first and second embodiments will be described, and the other parts are the same as those in the first and second embodiments, and the connection positions of the couplers 111 and 121 are adjusted. It is assumed that the same steering control and speed control as those in the first and second embodiments are performed until reaching a region where connection is possible.
  • FIG. 6 shows a configuration diagram of the vehicle system of the present embodiment.
  • the difference from FIG. 1, which is the configuration diagram of the first embodiment, is that the communication means 103, the preceding vehicle coupler control device 110, the safety device 119, the speed control device 113, the steering control device 114, and the following vehicle coupler control.
  • the device 120 is added.
  • the coupler control device 120 is a device that changes the direction of the coupler 111 without moving the preceding vehicle 101. That is, an actuator for changing the direction of the coupler 111 is provided at the rear part of the coupler 111, and the actuator is operated by an instruction from the coupler controller 110 to change the direction of the coupler 111.
  • processing flow related to connection control of this embodiment will be described with reference to FIG.
  • the processing flow of the present embodiment is characterized by steps 2050 and 2070 as compared to the processing flows of the first and second embodiments, and the other steps perform the same processing. Now, these steps will be mainly described.
  • the security device 129 of the following vehicle 102 determines the following vehicle in accordance with the value in step 2050.
  • the travel route for 102 to connect to the preceding vehicle 101 is calculated, and the steering angle, travel speed, and coupler angle of the preceding vehicle 101 and the subsequent vehicle 102 for traveling along the travel route are calculated.
  • the starting point is the current location of the succeeding vehicle 102
  • the vector at this starting point is the connector angle of the following vehicle 102
  • the end point (connecting position) is the connector position of the preceding vehicle 101.
  • a smooth travel route can be calculated by applying a calculation for obtaining a Hermite curve with the vector of When setting the parameters (start point / end point position, vector) of the curve, the calculation may be performed by changing the coupler angle and the position of the preceding vehicle 101.
  • the change range of the coupler angle is within the angle range of the couplers 111 and 121 that can be controlled by the coupler control devices 110 and 120.
  • the control information of the couplers 111 and 121 and the travel control information of the preceding vehicle 101 and the following vehicle 102 are used in the subsequent processing.
  • the The steering angle is calculated so as to trace the travel route thus calculated.
  • step 2070 the steering angle, travel speed, and connection calculated in step 2050 are calculated.
  • the angle is input to the speed control devices 113 and 123, the steering control devices 114 and 124, and the coupler control devices 110 and 120 of the preceding vehicle 101 and the following vehicle 102 to control the preceding vehicle and the following vehicle.
  • the succeeding vehicle 102 sends control information to the preceding vehicle 101 via the communication means.
  • the control may be a control for automatically driving the succeeding vehicle 102 or a control for assisting the driver of the succeeding vehicle 102.
  • the following vehicle 102 can perform traveling control for coupling with the preceding vehicle 101 through a smoother traveling route. Even when the travel route cannot be calculated, it is possible to calculate an appropriate travel route by moving the preceding vehicle 101 or changing the angles of the couplers 111 and 121.
  • an example is shown in which the following vehicle approaches and controls the preceding vehicle that has stopped, but in the third embodiment, the preceding vehicle 101 and the following vehicle 102 are both connected while traveling. May be.
  • this invention is not limited to the above-mentioned Example, Various modifications are included.
  • the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.
  • a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.

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Abstract

La présente invention concerne un système de commande de raccordement de véhicules dans lequel, lors du raccordement des raccords (111, 121) d'un véhicule de tête (101) et d'un véhicule suiveur (102), des informations de position pour deux ou plus de deux points caractéristiques sur une surface de raccordement du véhicule de tête (101) et des informations d'agencement pour le raccord (111) sont enregistrées à l'avance dans un dispositif d'enregistrement d'informations de points caractéristiques (128) du véhicule suiveur (102). Un dispositif de mesure d'informations de position (122), qui est monté sur le véhicule suiveur (102), identifie chacun des points caractéristiques, mesure des informations de position associées et identifie la position du raccord (121) par rapport au raccord (111) sur la base des informations de position et des informations d'agencement pour le raccord (111) par rapport aux points caractéristiques. Le véhicule suiveur (102) comprend un dispositif de sécurité (129) qui dérive un trajet et une vitesse jusqu'à ce que les raccords (111, 121) se connectent, commande un dispositif de commande de braquage (124) et un dispositif de commande de vitesse (123) et fixe en toute sécurité et en douceur les raccords l'un à l'autre. En outre, un équipement de surface de route n'est pas nécessaire étant donné que la commande de raccordement est exécutée du côté du véhicule.
PCT/JP2014/053270 2014-02-13 2014-02-13 Système de commande de raccordement de véhicules WO2015121935A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005157875A (ja) * 2003-11-27 2005-06-16 Daihatsu Motor Co Ltd 車両認識方法及び車両認識装置
JP2005313780A (ja) * 2004-04-28 2005-11-10 Denso Corp 先行車両認識装置
JP2006001533A (ja) * 2004-06-17 2006-01-05 Daimler Chrysler Ag トレーラを自動車に連結する方法
JP2007523793A (ja) * 2004-02-25 2007-08-23 ダイムラークライスラー・アクチェンゲゼルシャフト 連結車両の制御システム
JP2011182608A (ja) * 2010-03-03 2011-09-15 Honda Motor Co Ltd 電気自動車

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005157875A (ja) * 2003-11-27 2005-06-16 Daihatsu Motor Co Ltd 車両認識方法及び車両認識装置
JP2007523793A (ja) * 2004-02-25 2007-08-23 ダイムラークライスラー・アクチェンゲゼルシャフト 連結車両の制御システム
JP2005313780A (ja) * 2004-04-28 2005-11-10 Denso Corp 先行車両認識装置
JP2006001533A (ja) * 2004-06-17 2006-01-05 Daimler Chrysler Ag トレーラを自動車に連結する方法
JP2011182608A (ja) * 2010-03-03 2011-09-15 Honda Motor Co Ltd 電気自動車

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